// --------------------------------------------------------------------------------------------------------------------
// <copyright file="GlobalMapUtilityTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Navigation.Runtime.UnitTests
{
    using System;
    using System.IO;
    using System.Windows.Media;
    using System.Windows.Media.Imaging;
    using Microsoft.Robotics.IO;
    using Microsoft.Robotics.Navigation.Localization;
    using Microsoft.Robotics.Navigation.Visualization.Localization;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.VisualStudio.TestTools.UnitTesting;
   
    /// <summary>
    /// Basic unit test for Global Map
    /// </summary>
    [TestClass]
    public class GlobalMapUtilityTest
    {
        /// <summary>
        /// Validates that you can create a global map from the given 8 bit bitmap.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        [DeploymentItem(@"TestData\115-2FloorMap.bmp")]
        [DeploymentItem(@"TestData\115-2FloorMap.xml")]
        public void ConvertBitmapToGlobalMapMetaDataTest()
        {   
            string bitmapFilePath = @"115-2FloorMap.bmp";
            string testGlobalMapFilePath = Path.GetRandomFileName();
            float distanceResolution = 0.04f;
            Pose2D pose = new Pose2D(300, 300, 0);
            
            GlobalMapUtility.ConvertBitmapToGlobalMap(bitmapFilePath, testGlobalMapFilePath, distanceResolution, pose);            
           
            GlobalMap map = Serializer.Load<GlobalMap>(testGlobalMapFilePath);

            if (map != null)
            {
                Assert.AreEqual(640, map.Width);
                Assert.AreEqual(448, map.Height);
                Assert.AreEqual(pose.X, map.MapStartPose.X);
                Assert.AreEqual(pose.Y, map.MapStartPose.Y);
                Assert.AreEqual(pose.Heading, map.MapStartPose.Heading);
                Assert.AreEqual(distanceResolution, map.DistanceResolution);
            }          
        }

        /// <summary>
        /// Validates that the bitmap map created matches the reference float bitmap for that global map file.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        [DeploymentItem(@"TestData\115-2FloorMap.bmp")]
        [DeploymentItem(@"TestData\115-2FloorMap.xml")]
        public void ConvertGlobalMapToBitmapReferenceTest()
            {
            string referenceBitmapFilePath = @"115-2FloorMap.bmp";
            string testBitmapFilePath = Path.GetRandomFileName();
            float distanceResolution;
            Pose2D pose;
            string referenceGlobalMapFilePath = @"115-2FloorMap.xml";
            GlobalMapUtility.ConvertGlobalMapToBitmap(referenceGlobalMapFilePath, testBitmapFilePath, out distanceResolution, out pose);
            BitmapDecoder createdBitmap = BitmapDecoder.Create(
                new Uri(testBitmapFilePath, UriKind.Relative),
                BitmapCreateOptions.None,
                BitmapCacheOption.Default);
            BitmapFrame createdFrame = createdBitmap.Frames[0];
            BitmapDecoder referenceBitmap = BitmapDecoder.Create(
                new Uri(referenceBitmapFilePath, UriKind.Relative),
                BitmapCreateOptions.None,
                BitmapCacheOption.Default);
            BitmapFrame referenceFrame = createdBitmap.Frames[0];

            Assert.AreEqual(referenceFrame.PixelHeight, createdFrame.PixelHeight);
            Assert.AreEqual(referenceFrame.PixelWidth, createdFrame.PixelWidth);
            Assert.AreEqual(referenceFrame.Format.BitsPerPixel, createdFrame.Format.BitsPerPixel);

            int referenceStride = referenceFrame.PixelWidth * 
                referenceFrame.Format.BitsPerPixel / 8;
            byte[] referencePixels = new byte[referenceStride * referenceFrame.PixelHeight];
            referenceFrame.CopyPixels(referencePixels, referenceStride, 0);
            byte[] createdPixels = new byte[referenceStride * referenceFrame.PixelHeight];
            referenceFrame.CopyPixels(createdPixels, referenceStride, 0);

            for (long i = 0; i < referencePixels.LongLength; ++i)
            {
                Assert.AreEqual(referencePixels[i], createdPixels[i]);
            }
        }

        /// <summary>
        /// Validates that the bitmap map created matches the reference float bitmap for that global map file.
        /// </summary>
        /// <remarks>
        /// Debug-only failure in smoke builds. Doesn't repro on dev machine, so likely a source control issue with the test file. Will enable after check-in.
        /// </remarks>
        [Ignore] 
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        [DeploymentItem(@"TestData\115-2FloorMap.bmp")]
        [DeploymentItem(@"TestData\115-2FloorMap.xml")]
        public void ConvertBitmapToGlobalMapReferenceTest()
        {
            string bitmapFilePath = @"115-2FloorMap.bmp";
            string testGlobalMapFilePath = Path.GetRandomFileName();
            float distanceResolution = 0.04f;
            Pose2D dummyPoseNotUsed = new Pose2D();
            string referenceGlobalMapFilePath = @"115-2FloorMap.xml";
            GlobalMapUtility.ConvertBitmapToGlobalMap(bitmapFilePath, testGlobalMapFilePath, distanceResolution, dummyPoseNotUsed);

            GlobalMap createdMap = Serializer.Load<GlobalMap>(testGlobalMapFilePath);
            GlobalMap referenceMap = Serializer.Load<GlobalMap>(referenceGlobalMapFilePath);

            // Last pose and resolution doesn't matter for equality
            Assert.AreEqual(referenceMap.Height, createdMap.Height);
            Assert.AreEqual(referenceMap.Width, createdMap.Width);

            int index = 0;
            for (int x = 0; x < createdMap.Height; x++)
            {
                for (int y = 0; y < createdMap.Width; y++, index++)
            {
                    MapCell createdCell = createdMap.GetCell(x, y);
                    MapCell referenceCell = referenceMap.GetCell(x, y);

                    Assert.AreEqual(referenceCell.Value, createdCell.Value, 0.0001);
                    Assert.AreEqual(referenceCell.Metadata, createdCell.Metadata);
                    if (referenceCell.Weight > 1)
                {
                        Assert.AreEqual(1, createdCell.Weight);
                }
                    else
                        {
                        Assert.AreEqual(referenceCell.Weight, createdCell.Weight, 0.0001);
                    }
                }
            }
        }

        /// <summary>
        /// Validates that the SetMapOriginDoesSetTheMapOriginAndNothingElse
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        [DeploymentItem(@"TestData\115-2FloorMap.xml")]
        public void SetMapStartPoseDoesNotTouchAnythingElse()
        {
            // Note! Because we dont store the entire pose in the global map, but only X and Y - orientation
            //       would not be preserved, and would always be 0. This is not ideal, actually. We should consider 
            //       using a "Pose" instead of originX and originY in the global map, as we do today, but all maps
            //       would need to be converted
            Pose2D poseToSet = new Pose2D(0.11, 0.22, 0);

            string mapFileToConvert = @"115-2FloorMap.xml";

            GlobalMap oldMap = Serializer.Load<GlobalMap>(mapFileToConvert);

            GlobalMapUtility.SetGlobalMapStartPose(mapFileToConvert, poseToSet);

            GlobalMap convertedMap = Serializer.Load<GlobalMap>(mapFileToConvert);

            Assert.AreEqual(oldMap.DistanceResolution, convertedMap.DistanceResolution);
            Assert.AreEqual(oldMap.Height, convertedMap.Height);
            Assert.AreEqual(oldMap.Width, convertedMap.Width);
            Assert.AreEqual(oldMap.LastUpdateTime, convertedMap.LastUpdateTime);
            Assert.AreEqual(oldMap.Pose, convertedMap.Pose);

            Assert.AreNotEqual(oldMap.MapStartPose, convertedMap.MapStartPose);
            Assert.AreEqual(convertedMap.MapStartPose, poseToSet);
        }
    }
}
